Sensing power transfer between the human body and the environment

Petrus H. Veltink, H.G. Kortier, H. Martin Schepers

Research output: Contribution to journalArticleAcademicpeer-review

17 Citations (Scopus)
62 Downloads (Pure)

Abstract

The power transferred between the human body and the environment at any time and the work performed are important quantities to be estimated when evaluating and optimizing the physical interaction between the human body and the environment in sports, physical labor, and rehabilitation. It is the objective of the current paper to present a concept for estimating power transfer between the human body and the environment during free motions and using sensors at the interface, not requiring measurement systems in the environment, and to experimentally demonstrate this principle. Mass and spring loads were moved by hand over a fixed height difference via varying free movement trajectories. Kinematic and kinetic quantities were measured in the handle between the hand and the load. 3-D force and moments were measured using a 6 DOF force/moment sensor module, 3-D movement was measured using 3-D accelerometers and angular velocity sensors. The orientation was estimated from the angular velocity, using the initial orientation as a begin condition. The accelerometer signals were expressed in global coordinates using this orientation information. Velocity was estimated by integrating acceleration in global coordinates, obtained by adding gravitational acceleration to the accelerometer signals. Zero start and end velocities were used as begin and end conditions. Power was calculated as the sum of the inner products of velocity and force and of angular velocity and moment, and work was estimated by integrating power over time. The estimated performed work was compared to the potential energy difference corresponding to the change in height of the loads and appeared to be accurate within 4% for varying movements with net displacements and varying loads (mass and spring). The principle of estimating power transfer demonstrated in this paper can be used in future interfaces between the human body and the environment instrumented with body-mounted miniature 3-D force and acceleration- sensors.
Original languageUndefined
Article number10.1109/TBME.2009.2014963
Pages (from-to)1711-1718
Number of pages8
JournalIEEE transactions on biomedical engineering
Volume56
Issue number6
DOIs
Publication statusPublished - Jun 2009

Keywords

  • Rehabilitation
  • Sports
  • environment
  • power transfer
  • physical labor
  • human body
  • 3D moments measurement
  • 3D force measurement 3D moments measurement environment human body physical labor power transfer rehabilitation sports
  • BSS-Biomechatronics and rehabilitation technology
  • METIS-265223
  • IR-67572
  • 3D force measurement
  • EWI-15952

Cite this

Veltink, Petrus H. ; Kortier, H.G. ; Schepers, H. Martin. / Sensing power transfer between the human body and the environment. In: IEEE transactions on biomedical engineering. 2009 ; Vol. 56, No. 6. pp. 1711-1718.
@article{7c969c98ac2746e1b598bd4afaff7902,
title = "Sensing power transfer between the human body and the environment",
abstract = "The power transferred between the human body and the environment at any time and the work performed are important quantities to be estimated when evaluating and optimizing the physical interaction between the human body and the environment in sports, physical labor, and rehabilitation. It is the objective of the current paper to present a concept for estimating power transfer between the human body and the environment during free motions and using sensors at the interface, not requiring measurement systems in the environment, and to experimentally demonstrate this principle. Mass and spring loads were moved by hand over a fixed height difference via varying free movement trajectories. Kinematic and kinetic quantities were measured in the handle between the hand and the load. 3-D force and moments were measured using a 6 DOF force/moment sensor module, 3-D movement was measured using 3-D accelerometers and angular velocity sensors. The orientation was estimated from the angular velocity, using the initial orientation as a begin condition. The accelerometer signals were expressed in global coordinates using this orientation information. Velocity was estimated by integrating acceleration in global coordinates, obtained by adding gravitational acceleration to the accelerometer signals. Zero start and end velocities were used as begin and end conditions. Power was calculated as the sum of the inner products of velocity and force and of angular velocity and moment, and work was estimated by integrating power over time. The estimated performed work was compared to the potential energy difference corresponding to the change in height of the loads and appeared to be accurate within 4{\%} for varying movements with net displacements and varying loads (mass and spring). The principle of estimating power transfer demonstrated in this paper can be used in future interfaces between the human body and the environment instrumented with body-mounted miniature 3-D force and acceleration- sensors.",
keywords = "Rehabilitation, Sports, environment, power transfer, physical labor, human body, 3D moments measurement, 3D force measurement 3D moments measurement environment human body physical labor power transfer rehabilitation sports, BSS-Biomechatronics and rehabilitation technology, METIS-265223, IR-67572, 3D force measurement, EWI-15952",
author = "Veltink, {Petrus H.} and H.G. Kortier and Schepers, {H. Martin}",
note = "10.1109/TBME.2009.2014963",
year = "2009",
month = "6",
doi = "10.1109/TBME.2009.2014963",
language = "Undefined",
volume = "56",
pages = "1711--1718",
journal = "IEEE transactions on biomedical engineering",
issn = "0018-9294",
publisher = "IEEE",
number = "6",

}

Sensing power transfer between the human body and the environment. / Veltink, Petrus H.; Kortier, H.G.; Schepers, H. Martin.

In: IEEE transactions on biomedical engineering, Vol. 56, No. 6, 10.1109/TBME.2009.2014963, 06.2009, p. 1711-1718.

Research output: Contribution to journalArticleAcademicpeer-review

TY - JOUR

T1 - Sensing power transfer between the human body and the environment

AU - Veltink, Petrus H.

AU - Kortier, H.G.

AU - Schepers, H. Martin

N1 - 10.1109/TBME.2009.2014963

PY - 2009/6

Y1 - 2009/6

N2 - The power transferred between the human body and the environment at any time and the work performed are important quantities to be estimated when evaluating and optimizing the physical interaction between the human body and the environment in sports, physical labor, and rehabilitation. It is the objective of the current paper to present a concept for estimating power transfer between the human body and the environment during free motions and using sensors at the interface, not requiring measurement systems in the environment, and to experimentally demonstrate this principle. Mass and spring loads were moved by hand over a fixed height difference via varying free movement trajectories. Kinematic and kinetic quantities were measured in the handle between the hand and the load. 3-D force and moments were measured using a 6 DOF force/moment sensor module, 3-D movement was measured using 3-D accelerometers and angular velocity sensors. The orientation was estimated from the angular velocity, using the initial orientation as a begin condition. The accelerometer signals were expressed in global coordinates using this orientation information. Velocity was estimated by integrating acceleration in global coordinates, obtained by adding gravitational acceleration to the accelerometer signals. Zero start and end velocities were used as begin and end conditions. Power was calculated as the sum of the inner products of velocity and force and of angular velocity and moment, and work was estimated by integrating power over time. The estimated performed work was compared to the potential energy difference corresponding to the change in height of the loads and appeared to be accurate within 4% for varying movements with net displacements and varying loads (mass and spring). The principle of estimating power transfer demonstrated in this paper can be used in future interfaces between the human body and the environment instrumented with body-mounted miniature 3-D force and acceleration- sensors.

AB - The power transferred between the human body and the environment at any time and the work performed are important quantities to be estimated when evaluating and optimizing the physical interaction between the human body and the environment in sports, physical labor, and rehabilitation. It is the objective of the current paper to present a concept for estimating power transfer between the human body and the environment during free motions and using sensors at the interface, not requiring measurement systems in the environment, and to experimentally demonstrate this principle. Mass and spring loads were moved by hand over a fixed height difference via varying free movement trajectories. Kinematic and kinetic quantities were measured in the handle between the hand and the load. 3-D force and moments were measured using a 6 DOF force/moment sensor module, 3-D movement was measured using 3-D accelerometers and angular velocity sensors. The orientation was estimated from the angular velocity, using the initial orientation as a begin condition. The accelerometer signals were expressed in global coordinates using this orientation information. Velocity was estimated by integrating acceleration in global coordinates, obtained by adding gravitational acceleration to the accelerometer signals. Zero start and end velocities were used as begin and end conditions. Power was calculated as the sum of the inner products of velocity and force and of angular velocity and moment, and work was estimated by integrating power over time. The estimated performed work was compared to the potential energy difference corresponding to the change in height of the loads and appeared to be accurate within 4% for varying movements with net displacements and varying loads (mass and spring). The principle of estimating power transfer demonstrated in this paper can be used in future interfaces between the human body and the environment instrumented with body-mounted miniature 3-D force and acceleration- sensors.

KW - Rehabilitation

KW - Sports

KW - environment

KW - power transfer

KW - physical labor

KW - human body

KW - 3D moments measurement

KW - 3D force measurement 3D moments measurement environment human body physical labor power transfer rehabilitation sports

KW - BSS-Biomechatronics and rehabilitation technology

KW - METIS-265223

KW - IR-67572

KW - 3D force measurement

KW - EWI-15952

U2 - 10.1109/TBME.2009.2014963

DO - 10.1109/TBME.2009.2014963

M3 - Article

VL - 56

SP - 1711

EP - 1718

JO - IEEE transactions on biomedical engineering

JF - IEEE transactions on biomedical engineering

SN - 0018-9294

IS - 6

M1 - 10.1109/TBME.2009.2014963

ER -